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<div class="textblock"><code>#include &lt;stdio.h&gt;</code><br />
<code>#include &lt;stdlib.h&gt;</code><br />
<code>#include &lt;unistd.h&gt;</code><br />
<code>#include &lt;stdint.h&gt;</code><br />
<code>#include &lt;string.h&gt;</code><br />
<code>#include &lt;net/if.h&gt;</code><br />
<code>#include &lt;sys/types.h&gt;</code><br />
<code>#include &lt;sys/socket.h&gt;</code><br />
<code>#include &lt;sys/ioctl.h&gt;</code><br />
<code>#include &lt;linux/can.h&gt;</code><br />
<code>#include &lt;linux/can/raw.h&gt;</code><br />
<code>#include &lt;limits.h&gt;</code><br />
<code>#include &lt;real_time_tools/timer.hpp&gt;</code><br />
<code>#include &lt;iostream&gt;</code><br />
<code>#include &lt;sstream&gt;</code><br />
<code>#include &lt;mutex&gt;</code><br />
<code>#include &lt;condition_variable&gt;</code><br />
<code>#include &lt;sys/mman.h&gt;</code><br />
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Include dependency graph for os_interface.hpp:</div>
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<tr class="memitem:a8bc67ce447b2fa424a45f3e01162035f"><td class="memItemLeft" align="right" valign="top">typedef struct can_frame&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="os__interface_8hpp.html#a8bc67ce447b2fa424a45f3e01162035f">can_frame_t</a></td></tr>
<tr class="memdesc:a8bc67ce447b2fa424a45f3e01162035f"><td class="mdescLeft">&#160;</td><td class="mdescRight">xeno specific include  <a href="#a8bc67ce447b2fa424a45f3e01162035f">More...</a><br /></td></tr>
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typedef canid_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="os__interface_8hpp.html#ab9491ad99890aa9ecf1785d1edd23d64">can_id_t</a></td></tr>
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typedef uint64_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="os__interface_8hpp.html#ad3b24c25feabadba465f8797d8c7fe27">nanosecs_abs_t</a></td></tr>
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<tr class="memitem:a001686caee0f34611f14ab94c7303254"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceosi.html#a001686caee0f34611f14ab94c7303254">osi::send_to_can_device</a> (int fd, const void *buf, size_t len, int flags, const struct sockaddr *to, socklen_t tolen)</td></tr>
<tr class="memdesc:a001686caee0f34611f14ab94c7303254"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use the osi workspace API to communicate with the can bus.  <a href="namespaceosi.html#a001686caee0f34611f14ab94c7303254">More...</a><br /></td></tr>
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<tr class="memitem:a92dc20de3b4933a10f24c98cecf2568b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceosi.html#a92dc20de3b4933a10f24c98cecf2568b">osi::close_can_device</a> (int socket)</td></tr>
<tr class="memdesc:a92dc20de3b4933a10f24c98cecf2568b"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function is closing a socket on the Can device.  <a href="namespaceosi.html#a92dc20de3b4933a10f24c98cecf2568b">More...</a><br /></td></tr>
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<tr class="memitem:a244466c0afc9ae9fe059cee665fb0603"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceosi.html#a244466c0afc9ae9fe059cee665fb0603">osi::receive_message_from_can_device</a> (int fd, struct msghdr *msg, int flags)</td></tr>
<tr class="memdesc:a244466c0afc9ae9fe059cee665fb0603"><td class="mdescLeft">&#160;</td><td class="mdescRight">Poll? a message from the CAN device.  <a href="namespaceosi.html#a244466c0afc9ae9fe059cee665fb0603">More...</a><br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceosi.html#a48e36c862c77befc86f53140722c3f43">osi::initialize_realtime_printing</a> ()</td></tr>
<tr class="memdesc:a48e36c862c77befc86f53140722c3f43"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function is needed in xenomai to initialize the real time console display of text. <br /></td></tr>
<tr class="separator:a48e36c862c77befc86f53140722c3f43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a499cdf6336a907d1327044b0f595f3a9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceosi.html#a499cdf6336a907d1327044b0f595f3a9">osi::sleep_ms</a> (const double &amp;sleep_time_ms)</td></tr>
<tr class="memdesc:a499cdf6336a907d1327044b0f595f3a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function uses eather the xenomai API or the posix one.  <a href="namespaceosi.html#a499cdf6336a907d1327044b0f595f3a9">More...</a><br /></td></tr>
<tr class="separator:a499cdf6336a907d1327044b0f595f3a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2409ab591c4f78d9a8bcfbbe38df9429"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceosi.html#a2409ab591c4f78d9a8bcfbbe38df9429">osi::get_current_time_ms</a> ()</td></tr>
<tr class="memdesc:a2409ab591c4f78d9a8bcfbbe38df9429"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current time in millisecond.  <a href="namespaceosi.html#a2409ab591c4f78d9a8bcfbbe38df9429">More...</a><br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceosi.html#af6772d4aea95e99bc2bd0aabc557a20e">osi::make_this_thread_realtime</a> ()</td></tr>
<tr class="memdesc:af6772d4aea95e99bc2bd0aabc557a20e"><td class="mdescLeft">&#160;</td><td class="mdescRight">This methd is requiered in xenomai to create a real time thread. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Manuel Wuthrich (<a href="#" onclick="location.href='mai'+'lto:'+'man'+'ue'+'l.w'+'ut'+'hri'+'ch'+'@gm'+'ai'+'l.c'+'om'; return false;">manue<span style="display: none;">.nosp@m.</span>l.wu<span style="display: none;">.nosp@m.</span>thric<span style="display: none;">.nosp@m.</span>h@gm<span style="display: none;">.nosp@m.</span>ail.c<span style="display: none;">.nosp@m.</span>om</a>) </dd>
<dd>
Maximilien Naveau (<a href="#" onclick="location.href='mai'+'lto:'+'max'+'im'+'ili'+'en'+'.na'+'ve'+'au@'+'gm'+'ail'+'.c'+'om'; return false;">maxim<span style="display: none;">.nosp@m.</span>ilie<span style="display: none;">.nosp@m.</span>n.nav<span style="display: none;">.nosp@m.</span>eau@<span style="display: none;">.nosp@m.</span>gmail<span style="display: none;">.nosp@m.</span>.com</a>) </dd></dl>
<dl class="section version"><dt>Version</dt><dd>0.1 </dd></dl>
<dl class="section date"><dt>Date</dt><dd>2018-11-27</dd></dl>
<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2018 </dd></dl>
</div><h2 class="groupheader">Typedef Documentation</h2>
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          <td class="memname">typedef struct can_frame <a class="el" href="os__interface_8hpp.html#a8bc67ce447b2fa424a45f3e01162035f">can_frame_t</a></td>
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<p>xeno specific include </p>
<p>Define typedefs to make code compatible with Xenomai code. Create a common type_def to wrap xenomai and posix. </p>

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